The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 04, 2020
Filed:
May. 04, 2017
Worcester Polytechnic Institute, Worcester, MA (US);
Saraj Pirasmepulkul, Wocester, MA (US);
Alexander Caracappa, Worcester, MA (US);
Peerapat Luxsuwong, Worcester, MA (US);
Cagdas D. Onal, Allston, MA (US);
William Michalson, Worcester, MA (US);
Tri Khuu, Worcester, MA (US);
Ming Luo, Worcester, MA (US);
Worcester Polytechnic Institute, Worcester, MA (US);
Abstract
A toroidal actuator is responsive to a teleoperator for providing haptic feedback responsive to a curvature or articulated movement applied to a gripped object. The toroidal actuator surrounds an operator member such as a finger, and is responsive to pneumatic pressure for increasing telepresence force defined by resistance encounter against a teleoperated robotic claw. As the teleoperated claw grips an object, increased pneumatic pressure in the toroidal actuator tends to elongate the toroidal shape in a linear manner and oppose a curvature force applied by an inserted operator finger. Resistive force is based on soft sensing of the gripped object, thus the toroidal actuator applies an increasing resistive force to curvature as the robotic claw closes around a gripped object by solenoid regulated air pressure. A typical assembly includes at least 3 toroidal actuators for two digits and a thumb of an operator.